This paper presents an optimal trajectory planner for a robotic batting task . The specific case of a table tennis game performed by a robot is considered. Given an estimation of the trajectory of the ball during the free flight, the method addresses the determination of the paddle configuration (pose and velocity) to return the ball at a desired position with a desired spin. The implemented al...

The sun has long been thought to guide bird navigation as the second step in a two-stage process, in which determining position using a map is followed by course setting using a compass, both over unfamiliar and familiar terrain. The animal's endogenous clock time-compensates the solar compass for the sun's apparent movement throughout the day, and this allows predictable deflections in orienta...

UAVs systems represent a flexible technology able to collect a big amount of high resolution information, both for metric and interpretation uses. In the frame of experimental tests carried out at Dept. ICA of Politecnico di Milano to validate vector-sensor systems and to assess metric accuracies of images acquired by UAVs, a block of photos taken by a fixed wing system is triangulated with sev...

Gliding has often been discussed in the literature as a possible precursor to powered flight in vertebrates, but few studies exist on the mechanics of gliding in living animals. In this study I analyzed the 3D kinematics of sugar gliders (Petaurus breviceps) during short glides in an enclosed space. Short segments of the glide were captured on video, and the positions of marked anatomical landm...

In this thesis, we present a recursive Bayesian solution to the problem of joint tracking and classification for ground-based air surveillance. In our system, we specifically allow for complications due to multiple targets, false alarms, and missed detections. Most importantly, though, we utilize the full benefit of a joint approach by implementing our tracker using an aerodynamically valid fli...

Any goal within the flight range of the bee is characterized by direction and distance from the hive. These two parameters are also the basic in­ formations transmitted in bee dances. The direc­ tion has to be calculated by using an individually acquired sun compass, whereas the distance is esti­ mated by the amount of energy invested during the flight [1], Local and distant landmarks are used ...

The new neutron time-of-flight (TOF) diffractometer HIPPO (High-Pressure-Preferred Orientation) at LANSCE (Los Alamos Neutron Science Center) is described and results for quantitative texture analysis of a standard sample are discussed. HIPPO overcomes the problem of weak neutron scattering intensities by taking advantage of the improved source at LANSCE, a short flight path (9m) and a novel th...

Flying insects exhibit stunning behavioral repertoires that are largely mediated by the visual control of flight. For this reason, presenting a controlled visual environment to tethered insects has been and continues to be a powerful tool for studying the sensory control of complex behaviors. To create an easily controlled, scalable, and customizable visual stimulus, we have designed a modular ...

The flight of compact debris can be highly stochastic in nature. However, standard equations are deterministic after assuming a spherical shape for gravel. This study proposes model to resolve some key aspects these uncertainties that originate due changes orientation the particle during flight. numerically solves differential motion large number gravel pieces taken from five different size gra...

We present an Unmanned Aviation Vehicle-based Photogrammetric mapping system in this paper. This work is part of a project monitoring of unpaved road condition using remote sensing and other technology, sponsored by the US Department of Transportation. The system is based on a low cost model helicopter equipped with a GPS/IMU and a geomagnetic sensor to detect the position, attitude and velocit...